— 7-40 —
B
B
3
3
t
t
y
y
p
p
e
e
B
B
5
5
t
t
y
y
p
p
e
e
7.2. For More Advanced Operation
7.2.1. Absolute Position Scale (For Absolute Position Sensor)
2
2
3
3
t
t
y
y
p
p
e
e
2
2
5
5
t
t
y
y
p
p
e
e
7.2. For More Advanced Operation
7.2.1. Absolute Position Scale (For Absolute Position Sensor)
！
Caution: Always turn on the power when the Motor is completely stationary.
Otherwise it may cause shifting the Motor position data.
l
The Megatorque Motor System has its own position scale for the positioning operation and the
control of software over travel limit.
l
Once the home position is defined, this System does not require the Home Return every time the
power is turned on because of the built in absolute position sensor.
l
Follow the procedure below to set the position scale.
(1) Direction of position scale -----Refer to “7.2.1.1. Direction of Position Scale.”
(2) User home position --------------Refer to “7.2.1.5. Setting User Home Position.”
(3) Software over travel limit--------“7.1.8.2. Software Over Travel Limit”
7.2.1.1. Direction of Position Scale
！
Caution: When the DI data is changed, turn off the power once, and then reset
the home position.
！
Caution: Even the sign of plus/minus of the position scale are reversed, the
direction of hardware over travel limit, and the output phase of position
feedback signal remain unchanged.
l
You may reverse the sign of position scale not to hinder operations when the Motor mounting
direction is reversed.
à
CW or CCW is a direction when you look the Motor from the Motor output axis
(rotor).
à
The DI data (DI command) defines counting direction of the coordinate.
à
Relation between the DI data and the mounting direction is shown below.
Table 7-14
DI data
Setting
CW
CCW
Shipping set
0
Standard
Counting in plus
Counting in minus
ü
1
Reversed
Counting in minus
Counting in plus
l
When the sign of the position scale is reversed, the sign of following functions will be reversed
as well.
à
Direction of all positioning operations
à
Setting direction of software over travel limit
à
Detecting absolute position
à
Absolute home position offset (Offset by AO data)
